Multi-sensor inspection for identification of pressurized pipe defects that leak

ABSTRACT

The system utilizes conductivity equipment as well as a camera, pressure sensor, and acoustic hydrophone within a probe deployed via cable into a pipe to be inspected. The probe completes an electric circuit back to ground when the probe is adjacent a defect through which electric currents can pass, thus producing varying electric current. The camera, incorporated into the electric probe, is utilized for both inspection and navigation through the pipe by providing a close-circuit video data feed. The pressure sensor detects alterations in the pressure and flow field of the fluidic region in the area of a leak. The acoustic hydrophone listens for the sound leaks in a pressurized pipeline. The inspection device is tethered to a cable and inserted a measured distance into the pipeline, typically with the pipeline under pressure, via a launch tube. Multi-sensor data versus pipeline position is thus obtained.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.14/866,354 filed on Sep. 25, 2015 and issued as U.S. Pat. No. 9,933,329on Apr. 3, 2018, which claims benefit under Title 35, United States Code§ 119(e) of U.S. Provisional Application No. 62/203,809 filed on Aug.11, 2015.

FIELD OF THE INVENTION

The following invention relates to systems and methods for detectingdefects in underground fluid transporting pipes, such as water pipes,which have a potential to leak. More particularly, this inventionrelates to methods which can utilize a combination of camera, acoustichydrophone, water pressure sensor, and electric probe through a commondefect detection signal cable.

BACKGROUND OF THE INVENTION

Pressurized water delivery pipeline systems and other undergroundpressurized and unpressurized fluid transport pipes can be difficult toinspect due to their hidden location and the substantial costs relatedwith ground excavation. Leaks in such pipes can increase costsassociated with operating the pipe due to disruptions and damages,create potential hazards, and increase public health risks. Additionallywater (and often other pipeline fluids) is an important natural resourceand water pipelines are crucial in the continuation of our daily lives.Thus, it is beneficial to identify defects in the pipe accurately andquickly, while avoiding disruption to the community's water networkservices.

Pressurized pipes can be difficult to inspect due to accessibility beinglimited, difficult, and sometimes dangerous. Therefore, inspection ofpressurized pipes with the utilization of a single inspection device isgenerally beneficial.

One form of defect detection is described in detail in ASTM StandardF2550-13 which describes a low voltage conductivity method for defectdetection by measuring variations in electric current flow through wallsof the pipe as part of a series circuit including a voltage source andan electric current sensor, which collects data as the probe movesthrough a known position within the pipe.

One such probe beneficial for use in conducting this low voltageconductivity is provided by Electro Scan, Inc. of Sacramento, Calif.Such probes effectively concentrate the electric current over arelatively short length of the pipe in which the probe is located, sothat electric current intensity data gathered by the low voltageconductivity method can be accurately correlated with the condition ofthe pipe directly adjacent the probe. Additionally, if a water main islined with a cured-in-place method, low voltage conductivity is able toidentify defects that typically go unnoticed by other methods such ascameras and acoustic hydrophones.

However, the low voltage conductivity method is unable to accuratelydetect leaks in metallic pipes since those pipes conduct electricity,resulting in no significant difference in electric current intensitybetween the pipe wall and a defect. As a result, when there are sectionsof metallic pipe within a pressurized system, it may result in datareadings which are difficult to decipher.

Another form of defect detection is acoustic hydrophones, which locatedefects by listening for the leak noise(s) that travels through thewater and pipe walls and records the data. Hydrophones work well inmetallic and concrete pipes, but in plastic and asbestos cement pipesthe sound does not carry well enough to give an accurate reading. Thisis due to the sounds resulting from a leak being reduced by the walls ofthe pipe, which can make them difficult to detect, especially if ahydrophone is too far from a defective wall. Additionally, hydrophonescan have the possibility of missing leaks, thereby placing anomalies inthe data due to sound interference from occurrences such as surfacenoise as well as acoustic damping because of the surrounding soil.

A third form of leak detection in pressurized pipes is by utilizingcameras, such as closed-circuit television (CCTV). Cameras aid in theidentification of structural defects and air pockets, mapping of servicetap and valve locations, investigation of water quality, and so on.However, the identification of defects which leak can be very difficultand easily missed since the camera cannot always see where water isexfiltrating and many defects may be too small or too difficult tolocate visually. Asbestos cement pipes or pipes which have been linedusing a cured-in-place process further exacerbate these issues.Additionally, minerals that commonly deposit on the walls of the pipemay obstruct the view of a leaking defect.

A fourth form of leak detection in pressurized pipes is by usingpressure sensors. Since water pipelines are pressurized, leakage in apipeline can alter the pressure and flow field of the working medium.Therefore, a fluidic region in the neighborhood of a leak will becreated from the rapid change in static pressure, i.e. dropping fromhigh-pressure inside the pipeline to low pressure in the surroundingmedium resting outside. This pressure gradient can appear in pressurizedpipes in the vicinity of leaks and openings. However, as the pressure inthe pipe increases, the smaller leaks become exceedingly difficult todetect.

Each of the aforementioned technologies used in leak detection of pipeshave different strengths and weaknesses and thus leave the possibilityof falsely identifying leaks and/or completely failing to identify aleak. Hence, it is beneficial to utilize a system which incorporatesmultiple (or all) of these technologies. Doing so allows for thecollection of a wider range of data and information regarding the pipeduring a single inspection which not only limits the amount of entrancesinto the pipe to inspect, but also aids in eliminating false positives,thereby more accurately and safely determining the condition of thepipe.

SUMMARY OF THE INVENTION

Instead of relying solely on a single method such as visual inspection,pressure gradients, hydrophone readouts, or low voltage conductivitydata, with this invention a system and method are provided forholistically inspecting pressurized pipes (and unpressurized pipes) fordefects by utilizing several inspection methods within a singlemulti-sensory inspection tool (probe). By integrating multipleinspection methods into a single device, a larger data field can beprovided in order to more accurately identify defects and their severityin a plethora of pipe materials.

With this invention a system and method are provided for operating amulti-sensor probe pipe defect detection tool with equipment and methodsto enhance the results achieved thereby. The system in a preferredembodiment incorporating multiple leak detection technologies, includesa low-voltage electric current measurement probe, pressure sensor,camera, and acoustic hydrophone encased in a tightly toleranced vessel,capable of withstanding external pressures up to 100 psi (6.9 bar). Thevessel can be made of many durable materials including lightweightplastic. It will typically have three metal rings encasing it, whichcreate the two guard electrodes and one defect-reading electrode for thelow voltage conductivity system.

The probe enters the pipe via a valve or a fire hydrant. This entranceinto the pipe is performed by utilizing a specialized and adaptable“launch tube” in order to maintain operational flows and pressure withinthe pressurized water pipe while continually moving the cable in and outof the pipe throughout the inspection. The launch tube attaches to thehydrant or valve and is comprised of a venting and sealing arrangementwherein one side is at the same pressure as the pipe while the otherside is at the lower atmospheric pressure. Both sides contain a boreleading to an internal chamber, while a vent valve vents said internalchamber to the outside and seals around the cable help prevent fluidloss. The multi-sensor probe and cable are able to pass through thebores, internal chamber, and seals in order to enter the pipe.

The launch tube is connected to the hydrant through use of a couplingdevice. When the coupling is fitted, the area between the bore andinternal chamber provides a pressure drop. Water can be allowed to leakat a low pressure and flow rate from a bleeder valve within the ventingarrangement while the inspection is performed. This particular ventingarrangement works to reduce pressure and can eliminate excess pressureon the seals of the launch tube mechanism while the cable is being fedthrough these seals. Under certain circumstances, it can also eliminatethe need for seals altogether.

The coupling device is also connected to a motor and roller arrangementwithin a housing to drive the cable. This driving component is coupledto the launch tube and moves the cable through the sealing system on thelaunch tube via a motorized rotating wheel (pulley). The cable is heldto the motorized drive wheel with the use of multiple adjustabletensioner wheels (pulleys). The drive motor is controlled with a wiredor wireless remote by the operator.

The probe is transported through the pipe using the pipe's internalfluid velocity. A rear-facing parachute-type device, known as a“velocity chute′” located on the back end of the probe propels the probeforward through the pipe. Necessary velocity is often obtained bymanipulating valves or hydrants further down throughout the pipingsystem.

The camera is located on the front end of the multi-sensor probe inorder to transmit video images of the interior of the pipe through amodified ethernet or fiber optic cable to an on-site PC-based processorwhere it can be used to aid in navigation of the pressurized pipe aswell as visually locate defects and structural issues within the pipe.The camera preferably has a sapphire lens which is able to withstand thehigh pressures experienced in pressurized pipelines. An internalelectronic gyroscope with 3-axis accelerometers is located within theprobe body. The data from the gyroscope is used to stabilize the videoimage and create more accurate measurements and locations, asfree-swimming probes may “wander” and twist through the diameter of thepipe. To illuminate the dark conditions, a high-intensity LED light ringis located in the diameter around the camera lens. In addition, thecamera module's firmware can adjust for lux sensitivity, backlightcompensation, and white balance to assist in creating a clearer videoimage in the darker conditions.

The acoustic hydrophone is located in the back end of the multi-sensorprobe. The hydrophone locates defects by listening for the acousticvibrations with a frequency in the range between about 10 Hz to 170,000Hz. This leak noise travels through the water and pipe walls and isdetected by the hydrophone. The acoustical signals are converted todigital data which can then be transmitted through the same modifiedethernet or fiber optic cable to an on-site PC-based processor forrecording and interpretation.

The pressure sensor is preferably located in the front end of themulti-sensor probe, adjacent to the camera lens. The pressure sensorrecords and utilizes the pressure gradients that occur in the vicinityof leaks and openings throughout the pressurized pipes to locatedefects. By determining the fluidic regions, the general location ofleaks can be determined, since the fluidic regions will be created fromthe rapid change in static pressure due to leakage in the pipeline whichcan alter the pressure and flow field of the working medium.Additionally, by measuring and recording the pipe's internal pressure, acalculation can be performed incorporating some of the low voltageconductivity measurement data to produce an estimate leakage rate foreach defect and subsequently, the pipe as a whole (in gallons per minute(GPM) or liters per second (LPS)). The pressure sensor data is thentypically digitally transmitted through the same modified ethernet orfiber optic cable to an on-site PC-based processor.

The system also includes an electric probe coupled to a distal end of anelectrically conductive cable also having a proximal end opposite thedistal end. The probe is preferably of a type similar to that disclosedin U.S. Pat. No. 6,301,954, incorporated herein by reference in itsentirety. A voltage source is provided adjacent to the proximal end ofthe electrically conductive cable, typically in the form of DC current.

An electric meter, typically in the form of a current meter constructedinto the circuitry and firmware of the probe signal evaluationcontroller, is also located along the electrically conductive modifiedethernet or fiber optic cable, typically near the proximal end thereof.A ground interface, typically in the form of a ground stake, ispenetrated into the ground in the general area of the pipe to beinspected and has a ground wire which extends to the proximal end of theprobe signal evaluation controller, which is typically located aboveground and mounted within a movable case or vehicle. Thus, a serieselectric circuit is created which is closed by passage of electriccurrent from the probe through a defect in the pipe wall and throughground between this defect and the ground interface. Intensity of thiscurrent in this circuit is measured by the electric meter. If theelectrical current in this grounding circuit it too strong due toenvironmental conditions such as high-salt content or large electricalgrounding plane, a potentiometer can be installed in the circuit to addresistance to the circuit and reduce errant electrical signal noise.

Probe position data is also gathered so that the probe position data iscorrelated with the various sensor data to create an unconditionedmulti-dimensional data set of current intensity, camera footage,pressure gradients, and hydrophone readings versus probe position, wherethe probe position is the distance from the chosen start or “zero”point.

A cable reel, often mounted in a vehicle due to its size and weight, isutilized to assist in storing portions of the electrically conductivemodified ethernet or fiber optic cable which is not yet drawn down intothe pipe. While one end of the cable is connected to the probe and payedout into the pipe, the other end of the cable is routed through thecenter drum of the reel, and attached to a specialized slip ring, whichallows the reel to turn limitless times, while still delivering the datapackets out of the reel enclosure and to the on-site PC-based processor.The cable is routed through a cable distance sensor which is fixed tothe downrigger frame of this cable reel and measures an amount of cablepayed off of the reel and into the pipe extending toward the probe andsubsequently, the amount of cable payed back onto the reel. This cabledistance sensor is correlated with probe position so that the positionof the probe is known for the multi-sensor data. The cable is alsosterilized before entering the pipe, either by utilizing the governingagency's recommended chemical sterilization method, or with ultraviolet(UV) rays from a specialized UV light box.

As the multi-sensor inspection probe is drawn through the pipe beingevaluated, the cable pays off of the reel and passes through the cableposition sensor. Data (including one or more of: electric current data,hydrophone data, pressure gradient data, and camera data) aresimultaneously gathered. The cable position sensor and leak detectionsensors preferably each include transmitters which transmit vialong-range ethernet or fiber optic cable to a separate on-site probesignal evaluation controller, which include power sources, long-rangeEthernet or fiber optic receivers, internal current meters, andcircuitry for the packetizing of the data. This on-site processorcorrelates the different signals into a single multi-dimensional dataset of sensor readings versus probe position. The probe signalevaluation controller relays all data via serial or USB cable to theon-site PC for recording, viewing, and processing (including applyingthe SMPTE 12M timecode to the video feed).

Data from the inspection probe and the cable distance sensor isautomatically transmitted to the probe signal evaluation controllerwhich can then readily gather an unconditioned data set. This data setcan be viewed on site and can trigger alarms when preset limitsassociated with defects of a preselected magnitude are identified. Thisunconditioned data set can be viewed through the on-site processor, suchas a PC. The unconditioned data can also be transmitted, such as bycellular data link, to a remote location for archiving and conditioningof the data into more meaningful data which can be transmitted back tothe on-site processor for display to personnel in the field in near realtime. The conditioned data can be incorporated into a larger overalldata set for an overall pressurized (or unpressurized) piping system, ofwhich the evaluated pipe is only a portion.

OBJECTS OF THE INVENTION

Accordingly, a primary object of the present invention is to provide asystem for efficiently and accurately gathering data associated withunderground pipe conditions utilizing a multi-sensor inspection probe.

Another object of the present invention is to provide a method andapparatus for gathering, displaying, conditioning and archivingmulti-sensor data on pressurized pipe conditions for maximum usefulness,the data including electric resistance data, camera data, pressure dataand acoustic data.

Another object of the present invention is to provide a system andapparatus for evaluating pipe sections in underground locations, such aspressurized (or unpressurized) gas, water or other fluid pipes, fordefects in the pipe which have the potential to leak.

Another object of the present invention is to minimize leakage of fluidsinto or out of pipelines by providing an effective method and apparatusfor evaluating underground pipe condition.

Another object of the present invention is to provide a system andapparatus for managing cable associated with a multi-sensor undergroundpipe evaluation system for convenient and easy operation and to acquirehighly precise data.

Another object of the present invention is to provide a power and datacommunication system for the inspection of internal pipelines thatoperates via long-range ethernet (in excess of 300 meters) cable.

Another object of the present invention is to provide a system andmethod for collection, analysis and archiving of pressurized pipe defectdata which includes both unconditioned data and conditioned data.

Other further objects of the present invention will become apparent froma careful reading of the included drawing figures, the claims anddetailed description of the invention.

BRIEF DESCRIPTION OF THE DRAWING FIGURES

FIG. 1 is a schematic depiction of the multi-sensor probe used forunderground pipe defect detection.

FIG. 2 is a schematic depiction of the multi-sensor probe, shown in FIG.1, in a cutaway perspective view, where some of the inner components ofthe multi-sensor probe are generally depicted.

FIG. 3 is a schematic depiction of the multi-sensor probe, shown in FIG.1 in a full-side view cut-away, where some of the inner components ofthe multi-sensor probe are generally depicted.

FIG. 4 is a schematic depiction of the multi-sensor probe within anunderground pipe and illustrating the defect detection methodology ofthis invention as deployed in the field.

FIG. 5 is a detail view of the multi-sensor probe of FIG. 1 in a sectionof underground pipe and illustrating electric field lines adjacent tothe electrodes of the probe.

FIG. 6 is a schematic depiction of the launch tube assembly and drivemotor assembly mounted atop a partially disassembled fire hydrant.

FIGS. 7 and 8 are graphic depictions of a typical graph of currentintensity versus probe location as it might appear utilizing the lowvoltage conductivity method with current intensity spikes correlatingwith leaks and illustrating how current spikes indicate defects in thepipe with a propensity for leaking. Show are the Unprocessed ElectroScan Defect Current, Total Electro Scan Defect Current, andPost-Processed Electro Scan Defect Current readings versus distance.

FIG. 9 is a graphic depiction of a typical camera reading versus probelocation (distance) with SMPTE Timecode applied and distance encodingalso shown.

FIG. 10 is a graphic depiction of a typical water pressure sensorreading versus time.

FIG. 11 is a graphic depiction of a typical acoustic hydrophone readingversus time.

FIG. 12 is a schematic depiction of a portion of the arrangement of FIG.4.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

Referring to the drawings, wherein like reference numerals representlike parts throughout the various drawing figures. The system 1 isconsistent with a prior art system described in ASTM (ASTMInternational, formerly known as “American Society for Testing andMaterials”) Standard F2550-13 described as “Standard Practice forLocating Leaks in Sewer Pipes By Measuring The Variation of ElectricCurrent Flow Through the Pipe Wall.” This system 1 can be utilized inunderground pressurized (or unpressurized) pipes P such as water orsewer by passing a probe 10 through the pipe P, such as between adjacentfire hydrants H, valves, or other appurtenances to detect defects in thepipe P wall. The system 1 incorporates a launch tube assembly, a reelassembly, and data handling and typically also processing with anon-site PC-based processor, as well as a remote processing location, forefficient and accurate data handling and overall database constructionof pipe condition data.

More specifically, and with particular reference to FIGS. 1-3 and 5basic details of the multi-sensor probe 10 are described, according tothis exemplary embodiment. The multi-sensor probe 10 is preferablyelongate in form and is configured to be attached at the rear end 14.The rear end 14 of the probe 10 is configured to be attached to a maincable 15 with a water-tight electric connection maintained therethrough. The multi-sensor probe 10 is moved through the pressurized pipeP by the water therein and is additionally aided by use of a velocitychute 16 attached to the rear end 14 of the probe 10.

The velocity chute 16 is typically made from a flexible, supplematerial, and provided in conical or semi-spherical shape, which allowsit to be able to capture the pipe's internal fluid velocity in order topropel the multi-sensor probe 10. The velocity chute 16 can be held openby multiple spring sections and is sized according to internal pipediameter. The chute's flexibility allows it to be manipulated throughmany of the physical constraints of the pipe P. The velocity chute 16also helps center the probe 10 in the pipe P, as the fastest velocity ofa pipeline is typically near the center, away from the pipe P walls. Acentering cone 18 (FIG. 5) can also be provided at a front end 12 of theprobe 10 if desired.

With reference to FIGS. 1-5, basic details of the multi-sensor probe 10pipe defect evaluation system 1 are described, according to an exemplaryembodiment. The multi-sensor probe 10 incorporates a basic low voltageconductivity leak detection subsystem 20 which causes a series electriccircuit to be formed extending along the cable 15 which extends from aprobe end of the cable to a proximal end of the cable. The probe end hasan electric probe attached thereto, such as through a connector. Thisprobe can be similar to or the same as a probe such as that described inU.S. Pat. No. 6,301,954, incorporated herein in its entirety. Generally,such a probe has sensor electrode located between two “guard” electrodeswhich assist in shielding the sensor electrode and providing usefulconductivity data.

The proximal end of the cable 15 is coupled to a ground stake 24 (FIGS.4 and 12) or already-established grounding source. A voltage source 26is provided along the cable 15. An electric meter 28, such as in theform of a current meter, is also located along the cable or between thevoltage source 26 and the ground stake 24 to measure current within thisseries circuit. Such location of the voltage source 26 and/or theelectric meter 28 can involve physical connection or non-physical, suchas involving inductance or electromagnetic field forces. A final portionof the series circuit is in the form of a current path passing from theground stake 24, through the ground, through a defect in the pipe Pwall, and through electrically conductive fluid (typically water)contained within the pipe P and then to the electrode 22 of probe 10.

The current meter or other electric meter 28 detects a small amount ofcurrent when the pipe wall is free of defects, because the pipe wall istypically formed of a low or non-electrically conductive material, suchas cement pipe, clay pipe, plastic pipe, etc. When there is a defect inthe pipe, and because the pipe is filled with electrically conductivefluid, fluid will pass through this crack or other defect in the floodedpipe, and a current pathway is thus provided to enhance an amount ofcurrent detected by the current meter or other electric meter 28. A sizeof current spike in the conductivity subsystem 20 data (FIGS. 7 and 8)generally correlates with an amount or size of this defect.

With reference to FIGS. 7 and 8, examples of different types of defectsare indicated by different sizes and intensities of electric currentspikes in the data plot/graph of current versus probe position(“distance”). For instance, a longitudinal crack such as defect D₁results in a relatively wide current intensity spike which is spacedaway from the location of any laterals or joints between pipe segments.Small and regularly located increases in electric current intensity areindicative of pipe joint locations which under normal circumstancesmight still allow sufficient fluid to pass there through to create asmall spike in current. Graphs such as those in FIGS. 7 and 8 can betwo-dimensional with current data on the Y-axis and distance on theX-axis, or otherwise plotted two-dimensionally. Alternatively, data fromother sensors (e.g. FIGS. 9-11) can be plotted together withconductivity on the same graph for a three-dimensional (or four orfive-dimensional) graph. A screen can also be split to simultaneouslydisplay separate graphs (and/or images).

Point or radial defects such as depicted by D₂ tend to provide anarrower spike in current intensity. Defects adjacent a lateral in thesewer are depicted by defect D₃ and generally appear in the graphed dataas a wide current intensity spike which is aligned with a location ofthe lateral. Locations of lateral service taps (typically made of ametal, such as brass) appear in the graphed data as a sharp spike.Finally, defects which are aligned with joint locations in the pipe areindicative of a defective joint such as defect D₄.

The conductivity subsystem 20 and other parts of the multi-probedetection system 1 which are spaced from the probe 10 preferably areoperated from a vehicle 60. At the vehicle 60, or other subpartlocation, the conductivity subsystem 20 includes interconnection of theon-site probe signal evaluation controller 80 (such as a personalcomputer) to a reel 70, such as through slip rings, to provide power(via power-over-ethernet or standard copper) to the multi-sensor probe10 and also to provide real-time data to and from all the sensors on theprobe 10 (including live 1080p video stream from the camera 32, asdescribed below). Control signals and power are transferred through thecable up to 40,000 times per second, along with typical signals from allthe other sensors (hydrophone, low voltage conductivity, camera andpressure) via long-range Ethernet or fiber optic cable 15. This 64-bytedata packet is transmitted to an on-site probe signal evaluationcontroller 80, typically including a PC-based processor and associatedmonitor so that the readings associated with the signal transmittedalong the cable 15 can be viewed by an operator.

The cable 15 can either use the Ethernet or other electronicallyconductive data transmission circuit to complete the conductivitycircuit of the conductivity subsystem 20, or a separate ground wire canbe provided for this purpose, separate from the data transmissioncircuit provided by the Ethernet or fiberoptic line. The on-site probesignal evaluation controller 80 and PC-based processor or otherequipment read the packet of data sent from the probe 10, and processand display each subsystem sensors' respective reading separately.

With continuing reference to FIGS. 1-5 as well as FIG. 9, details of thecamera subsystem 30 are described according to one embodiment. Thecamera subsystem 30 provide one form of additional data generatingsensor (along with the acoustic hydroplane subsystem 40 and pressuresubsystem 50) to complement the conductivity subsystem 20. The on-siteprobe signal evaluation controller 80 and PC-based processor can alsofacilitate storage for archiving of the live-camera image data, as wellas applying the industry-recognized Society of Motion Picture andTelevision Engineers (SMTPE) timecode (or other time code). From theon-site PC-based processor, images from a camera 32 in the front end 12of the probe 10 can be analyzed, adjusted, rotated, archived andotherwise beneficially used or transmitted to another data analysis toolfor this same purpose.

This adjustment that is performed on the image can be done in real-timewith the aid of software and data provided by the probe's internalelectronic gyroscope 36 with three-axis accelerometer. The gyroscope'sdata feed helps the PC-based processor understand what position (pitch,yaw, rotate) the probe 10 is within the pipe P, and can help adjust thecamera's image automatically. The operator has the ability to zoom,rotate, and otherwise adjust the image in post-processing. Additionally,the digital feed allows for uploading to a remote (cloud) location foralmost-live viewing by others with an internet connection that is noton-site.

To obtain the image within the completely dark pipe P, a light fromlow-voltage light emitting diodes (LEDs) is utilized. The LEDs arepositioned in a ring 34 around the camera lens in the front of theprobe. The LEDs stay behind a glass 35 or plastic waterproof enclosureand dissipate any heat generated through the probe's body and into thesurround fluid.

Camera data in the form of images can be displayed in a mannercorrelated with pipe P location. For instance, the video time stamp canbe correlated with a clock associated with the cable 15position/distance sensor 72 (described in detail below) so that videotime can be correlated to pipe P position of the camera 32. The videocan be shown on a split screen adjacent to conductivity data graphs(e.g. FIG. 7), such as with a mark on the graph indicating the exactcamera 32 position correlating with the image. As another option, theimage can be displayed upon the graph small enough to not obscure theconductivity (or other sensor) data and with the image located at thedistance point of the graph matching camera position for the image.

With continuing reference to FIGS. 1-5 as well as FIG. 11, details ofthe acoustic subsystem 40 are described, according to one embodiment.The vehicle 60 interconnection to the reel 70 in the same mannerpreviously stated allows for delivery of an acoustic hydrophone 42reading back from the multi-sensor probe 10 through the cable 15. Theacoustic hydrophone 42 would typically be located in the rear end 14 ofthe multi-sensor probe 10. If there is a leak in a pipe P underpressure, the force of the fluid being expelled from the pipe P createsa distinct acoustic reverberation within the fluid and the pipe walls.Even unpressurized pipes P may also have an acoustic noise that can bedetected. Leak noises that travel through the water and pipe walls aredetected by the hydrophone 42 which listens for these specific acousticvibrations. These acoustic signals are then converted to digital datapackets which are then transmitted through the cable 15 up to 40,000times per second, along with signals from all the other sensors (camera,low voltage conductivity, and pressure) via long-range Ethernet or fiberoptic. This 64-byte data packet is transmitted to the on-site probesignal evaluation controller 80 and PC-based processor and associatedmonitor so that the readings associated with the signal transmittedalong the cable 15 can be viewed by an operator. The on-site probe 10signal evaluation controller 80 and PC-based processor or otherequipment read the packet of data sent from the probe 10, and process &display each sensors' respective reading separately.

The on-site probe signal evaluation controller 80 and PC-based processorcan also facilitate storage for archiving of the hydrophone 42 data. Thedata from the acoustic hydrophone 42 is in the form of bipolar sensoramplitude over time, and is graphically displayed on the PC's screen assuch. From the on-site PC-based processor, the data can be analyzed,conditioned, archived and otherwise beneficially used or transmitted toanother data analysis tool for this same purpose. The operator has theability to select particular frequency ranges to accept (which is oftendetermined by variables such as pipe material) and the ability to ignoreparticular frequency ranges (background noise, fluid meter ticks, etc.).

With continuing reference to FIGS. 1-5 and 10, details of the pressuresubsystem 50 are described, according to one embodiment. The vehicleinterconnection to the reel 70 provides delivery of pressure sensor 52readings back from the multi-sensor probe 10. The pressure sensor 52 istypically located in the front end of the multi-sensor probe 10,adjacent to the camera 32 lens. The pressure sensor 52 records andutilizes the pressure gradients that occur in the vicinity of leaks andopenings throughout the pressurized pipe P to locate defects. Inunpressurized pipes, low pressures typically still exist which can bemeasured and studied for changes that can relate to leaks. The pressuresensor 52 data will then be digitally transmitted through the cable 15up to 40,000 times per second, along with signals from all the othersensors (camera, low voltage conductivity, and hydrophone) vialong-range Ethernet or fiber optic. This 64-byte data packet istransmitted to an on-site probe signal evaluation controller 80 andPC-based processor and associated monitor so that the readingsassociated with the signal transmitted along the cable 15 can be viewedby an operator. The on-site PC-based processor or other equipment canalso facilitate storage for archiving of the pressure sensor 52 data.The data from the pressure transducer is received and displayed ineither pounds per square inch (PSI) or bar (or other units). From theon-site PC-based processor, the data can be analyzed, conditioned,archived, and otherwise beneficially used or transmitted to another dataanalysis tool for this same purpose. The pipe's internal pressurereadings are also combined with some of the probe's other leak-detectiondata, particularly the low voltage conductivity data (described above)and used to help estimate the leakage rate of each defect inindustry-standard ratings such as gallons per minute or liters persecond.

With reference to FIG. 4, various elements of the multi-sensorpressurized pipe inspection system 1 are supported by a vehicle 60. Thevehicle includes support for a cable 15 configured to providetransmission of a signal from the multi-sensor probe 10 to a vehicle 60where other portions of the system 1 are located, for signal datacollection, archiving and interpretation, among other functions. Byhousing all of the equipment on a mobile platform in the form of avehicle 60, it can be driven to a site where a water line (or other pipeP) is to be inspected and operators can comfortably work in a controlledenvironment to gather and analyze sensor data received from themulti-sensor probe 10. Typically the vehicle 60 also provides auxiliarypower for all the required facets of the system. While the vehicle 60 istypically self-propelled, such as in the form of an enclosed van, thevehicle 60 can be in the form of a trailer that is towed into positionfor use and positioned appropriately so that the cable 15 coming off thereel 70 can be run in the most efficient and concise way possible.

The cable 15 is preferably stored upon a spool which is preferablycoupled to a winch 65 (FIGS. 4 and 6) for power control of the spool topay off and gather up the cable 15 as required by the system 1. Adistance encoder pulley 67 (or distance sensor 72) is preferablyprovided adjacent the cable 15 to measure an amount of cable 15 whichhas been payed off of or drawn back up onto the winch 65, which encoder67, 72 acts as one form of a multi-sensor probe 10 position sensor bymeasuring a distance away from the vehicle 60 that the multi-sensorprobe 10 has traveled, based on the amount of cable 15 which has beendeployed off of the winch 65. While various figures display either awinch 65 (FIGS. 4 and 6) or a reel 70 (FIGS. 4 and 12), the system 1 canintegrate features of both the reel 70 and winch 65 to provide thevarious functions described herein.

The cable 15 also contains elements that are important to theembodiment. The cable can provide power to the multi-sensor probe viapower-over-Ethernet or via fiber optics in order to allow the sensors tooperate. The cable 15 also carries all the signals back over the sameCAT 6 Ethernet wires or optical fiber strands. An additional conductorwithin either cable type is preferably also provided as the groundingcircuit for the probe's low voltage conductivity sensor. The cable 15 isnot only used to provide power and communication, but also to provide amethod of physical restraint and control of the probe by tethering it.As such, an internal braid of a tensile strength-creating material, suchas Kevlar, preferably is utilized, to create a cable 15 that can serveas tether and withstand the tension typically found in theseapplications. Because the probe 10 is propelled through the pipelineutilizing the velocity, it is vital that a heavy cable 15 not be used soas to create performance-hindering weight and drag. As such, it servesthe system well to utilize a cable 15 that is neutrally-buoyant. Also,as the cable 15 needs to be able to seal at the launch tube (where itenters the pipe), it is beneficial to have a smooth outer surface tocreate a better seal and also to reduce friction through the seal.

With reference to FIG. 6, after the cable 15 pays out from the winch 65and distance encoder pulley 65, it will enter the pipe P via the launchtube assembly 90. The launch tube assembly 90 is typically constructedout of either stainless steel or aluminum and is designed to accommodatethe entrance of the probe 10 and velocity chute 16 to be deployed intothe pressurized (or unpressurized) pipeline, as well as accommodate thecontinual entrance and exit of the aforementioned communication cable15. This assembly 90 is necessary so as to allow the pipeline to remain(highly) pressurized while the probe 10 and cable 15 enter from outsidethe pipe P which will be at (the typically lower) atmospheric pressure.The launch tube assembly 90 is mounted to existing valves or hydrants Hor where no hydrants or valves are available or accessible, a pipe tapcan be performed and the launch tube attached to that. Multiple adaptersallow the launch tube 90 to be affixed to many different manufacturers'valves and hydrants H with only minor disassembly of the valves,hydrants H, or appurtenances.

Atop the launch tube 90 sits the cable drive motor winch 65 which helpsforce the cable 15 through the seal at the top of the launch tube 90 andinto the pressurized zone of the launch tube 90. The drive motor'soutput shaft is attached to a drive wheel upon which the cable rides.Tension on the cable from multiple adjustable tensioner wheels 66(pulleys) above the drive wheel of the winch 65 create the necessaryfriction to allow the drive wheel (pulley) to grip the cable 15 as ithelps force it through the launch tube's sealing system.

In order to maintain operational flows and pressure when the pipe P is apressurized water pipe, while continually moving the cable 15 in and outof pipe throughout the inspection, the launch tube 90 utilizes a ventingand sealing arrangement wherein one side is at the same (higher)pressure as the pipe P while the other side is at the (lower)atmospheric pressure. Both sides contain a bore leading to an internalchamber, while a vent valve vents said internal chamber to the outsideand seals around the cable 15 to help prevent fluid loss. Themulti-sensor probe 10 and its velocity chute 16 sit within the internalchamber prior to deployment, while tethered to the cable 15. Once thelaunch tube 90 is attached to the hydrant H, the probe 10 and chute 16exit the internal chamber and enter the pipe P. The cable 15 is able topass through the bores, internal chamber, and seals in and enters andexits the pressurized pipe P, while greatly minimizing fluid loss.

The launch tube 90 is connected to the hydrant H through use of acoupling device. When the coupling is fitted, the area between the boreand internal chamber provides a pressure drop. Water can be allowed toleak at a low pressure and flow rate from a bleeder valve within theventing arrangement while the inspection is performed. This particularventing arrangement works to reduce pressure and can eliminate excesspressure on the seals of the launch tube mechanism while the cable 15 isbeing fed through these seals. Under certain circumstances, it can alsoeliminate the need for seals altogether.

Once the probe 10 is inserted into the pipe P through the launch tube 90or other apparatus, an operator sets the “zero” or starting point oncethe probe 10 enters the main run of the desired pipe P to be examined.As distance data is collected associated with the cable 15 passingthrough the bore in the distance encoder 72, this distance data iscorrelated with distance away from this start point. The distanceencoder 72 can include an input device where this start distance can beentered. As an alternative, the distance encoder can merely include azeroing button which can be depressed when the probe 10 is seen to be atthe start location and the cable 15 is generally taut between thelocation of the reel 70 assembly and the input location.

Should slack develop in the cable 15 which would cause distance datafrom the distance module to come out of correlation with the position ofthe probe 10, such potential errors can be corrected during conditioningof the data, such as at the remote processing location. One form of suchconditioning involves identifying small spikes in current intensity datacorrelating with joints in the pipe P. When a distance between joints,valves, appurtenances, or other physical attributes in the pipe P arealready known, such relatively small errors in distance data and probelocation data can be corrected by causing detected sensor readingsassociated with physical pipe attributes to control rather than actualmeasured distance data from the distance module.

The winch 65 or other spool support is further interconnected to ananalysis assembly so that a signal from the main cable can betransmitted to a computer or other data analysis tool with reference toground, so that the data can be analyzed, conditioned, archived andotherwise beneficially used. Slip rings or other interconnections allowfor power and data to be transmitted to the cable 15 through the winch65 or reel 70 and to an integration terminal. This integration terminalprovides one form of a signal interconnection between the end of thecable 15 opposite the free end and a multi-sensor probe 10 terminal.

The vehicle 60 interconnection to the spool of the winch 65 or reel 70in the same manner previously stated allows for delivery of the sensors'readings back from the multi-sensor probe 10 through the cable 15. Thesesensors' outputs are then converted to digital data which aretransmitted through the cable up to 40,000 times per second, along withsignals from all the other sensors (camera, low voltage conductivity,and pressure) via long-range Ethernet. This 64-byte data packet istransmitted to an on-site probe signal evaluation controller 80 andPC-based processor and associated monitor so that the readingsassociated with the signal transmitted along the cable 15 can be viewedby an operator. All these readings are correlated with the readings fromthe previously-calibrated distance encoder 72, so that the location ofreadings is recorded in relation to its position along the length of thepipe P from the chosen “zero” or start point.

The on-site probe signal evaluation controller 80 and PC-based processoror other equipment read the packet of data sent from the probe 10, andprocess and display each sensors' respective reading separately. Theon-site probe signal evaluation controller 80 and PC-based processor canalso facilitate storage for archiving of the data. From the on-sitePC-based processor, the data can be analyzed, conditioned, archived andotherwise beneficially used or transmitted to another data analysis toolfor this same purpose. The on-site PC-based processor can be configuredto interface with separate data storage equipment, such as through aninternet connection, or through various forms of interconnection to acloud computing interface to allow data received by the system to beeffectively stored and utilized not only by personnel adjacent thevehicle, but also at other locations.

Initially, this data is unconditioned data. For instance, it does nottake into account changes in the conductivity of the pipe material forthe low voltage conductivity subsystem 20, or background noises for theacoustic subsystem 40. Also, it has not been conditioned to factor inany slack or other irregularities in playing out of the cable 15 whichmight cause probe 10 position data to require adjustment, such asutilizing joint position data to correct the distance portion of thesignal. While this unconditioned data is less precise, there is somebenefit in displaying this unconditioned data through the on-siteprocessor. For instance, such display can verify that data is beinggathered. A skilled technician might be able to tell whether the datawill be useful once conditioned or if something is wrong with theoperation of the system. Also, when extreme conditions exist such as anexceptionally large defect, even unconditioned data would tend toclearly show such a defect. Alarms can be preset into the user'soperating PC application which would indicate to even untrainedpersonnel a high likelihood of a serious defect and the approximatelocation of the defect, such that further remedial action canimmediately be taken if necessary. Additionally, live, unprocessed videofeed with the help of the internal gyroscope, helps the operatornavigate the probe through the pipe and avoid any obstacles.

The unconditioned or raw data is initially received by the on-sitePC-based processor, typically in the form of two separate transmissionsfrom the distance module and the multi-sensor probe module which arecorrelated together in a single unconditioned signal. This data can bepost-processed at an off-site location by utilizing internet web-basedservers, accessible in the field using communication methods such as adigital cellular signal. Once this raw data has been transmitted to theprocessing location, the raw data can be archived in raw form. The rawdata can also be conditioned, such as to normalize the current intensitydata, to look for a specific acoustical frequency in a particular pipematerial, or to enhance the digital video for a better image.

The data that typically requires the most post-processing is the lowvoltage conductivity current data. Some current intensity varyingeffects will tend to be constant along the entire length of pipe beingexamined and could obscure spikes in current intensity associated with adefect that could leak. However, without conditioning, these spikes inthe data can be somewhat obscured and more difficult to identify andproperly interpret.

Other conditioning can also occur, such as to eliminate static or noisefrom the data or to eliminate potential forms of interference from thedata. The conditioned data can be archived similar to the way that theunconditioned data is archived.

The conditioned data can also be utilized with other conditioned datawithin a larger overall database of an overall piping network, such asan overall water system, so that a water operator or other undergroundpipeline operator can have a characterization of the status of theoverall pipeline system, which can act as a benchmark when futuretesting is performed and to compare the relative health of differentportions of the system to each other.

Finally, the conditioned data can be transmitted back to the vehicle 60at the onsite location. This conditioned data can be displayed on thecomputer 80 or other display associated with the computer 80 so thatfield personnel can see the conditioned data. The conditioning processcan be automated and occur quickly so that this retransmission of theconditioned data can occur in near real time. In this way, fieldpersonnel can immediately have access to conditioned data which can beviewed and provide the on-site personnel with information such aswhether sections of the pipe need to be re-evaluated, or if any seriousdefects exist which require further inspection by other means, or toprovide confidence that accurate data has been gathered before thescanning operation is wrapped up.

In FIG. 12 a detail of a portion of that which is shown in FIG. 4 isfurther illustrated. While in one embodiment the system of thisinvention is deployed from a vehicle 60, it can similarly be deployedthrough other mobile onsite equipment without a vehicle 60 beingstrictly necessary. In particular, the portable reel 70 assembly isprovided which is also referred to as a spool. The portable reel 70assembly can conveniently rest upon the ground and also include anupright member which can act as a handle when carrying the portable reel70 assembly. A spool thereon rotates relative to the frame and supportsundeployed portions of cable 15 which would typically be in the form ofEthernet or other data communication cable with the 4-in-1 probe 10 at atip thereof. A control module on the portable reel 70 assemblyinterconnects the live slip ring on the spool (which maintainsconnection with electrically conductive pathways within the cable 15)and also provides electrical connection to the ground stake 24 and alsoto a control center. A distance encoder 72 is also incorporated into theportable reel 70 assembly so that data collected includes distance, andhence location of the probe 10, as well as the signal being encoded withelectric resistance data, pressure data, acoustic data, camera data orany combination of the above. Alternatively, and as shown in FIGS. 4 and6, cable 15 handling and distance encoding can be performed by oradjacent to the winch 65. In such an instance, the reel 70 can merelyact to hold a ground wire leading to the ground stake 24 (FIG. 4).

This control center 80 could be installed upon the vehicle 6 as depictedin FIG. 4. As an alternative, this control center 80 could be providedon a trailer or the back of a truck or other mobile probe platform.Wireless communication from the control center 80 to a centralizedlocation is also preferably facilitated. It is also conceivable thatdata would merely be transferred from the control module of the portablereel 70 assembly to a control center 80 at a separate location ordirectly to a central data collection facility.

This disclosure is provided to reveal a preferred embodiment of theinvention and a best mode for practicing the invention. Having thusdescribed the invention in this way, it should be apparent that variousdifferent modifications can be made to the preferred embodiment withoutdeparting from the scope and spirit of this invention disclosure. Whenstructures are identified as a means to perform a function, theidentification is intended to include all structures which can performthe function specified. When structures of this invention are identifiedas being coupled together, such language should be interpreted broadlyto include the structures being coupled directly together or coupledtogether through intervening structures. Such coupling could bepermanent or temporary and either in a rigid fashion or in a fashionwhich allows pivoting, sliding or other relative motion while stillproviding some form of attachment, unless specifically restricted.

What is claimed is:
 1. A system for identification of underground pipedefects that leak, comprising in combination: a multi-sensor probe sizedto fit within an underground fluid transport pipe; said probe includingat least one electrode thereon; a data transmission cable having aproximal end and a distal end, said distal end electrically attached tosaid probe; a voltage source electrically coupled to said cable andspaced from said probe; a ground interface electrically coupled to saidcable and electrically coupled to ground; an electric meter positionedto measure an electric signal in a circuit including said electrode,said cable, said voltage source and said ground interface, said electricsignal correlating with defects in the pipe adjacent to said probe; andwherein said probe includes a camera, said camera producing a signaltransmitted along said cable and correlated with data from said electricmeter.
 2. The system of claim 1 wherein said voltage source includes aregulated DC power source.
 3. The system of claim 2 wherein saidelectric meter includes a current meter adapted to measure electriccurrent through said cable driven by a voltage produced by saidregulated DC power source.
 4. The system of claim 1 wherein a cable reelis provided with at least a portion of said cable located thereon, saidcable reel adapted to rotate, said cable reel having said cablesimultaneously electrically connected to said grounding element throughsaid proximal end of said cable and electrically connected to saidmulti-sensor probe through said distal end of said cable deployed off ofsaid reel; and said cable reel including a distance sensor measuring alength of cable going into the pipe in which said probe is located andto generate a signal correlating with a position of said probe, saiddistance sensor adding distance data to multi-sensor probe data tocorrelate said multi-sensor probe data with a position within the pipewhere said probe is located.
 5. The system of claim 4 wherein saiddistance sensor is mounted to a frame of said cable reel which remainsfixed relative to portions of said reel which rotate and which containportions of said electrically conductive cable thereon.
 6. The system ofclaim 5 wherein said distance sensor is in communication with an on-sitePC-based processor having a display associated therewith, said on-sitePC-based processor also in communication with said electric meter andsaid multi-sensor probe, said processor correlating distance sensor datawith data from said electric meter and said multi-sensor probe fordisplay of sensor data versus probe position in a graph.
 7. The systemof claim 1 wherein said cable includes a ground wire separate from adata transmission circuit, said electrode of said probe coupled to saidground wire, and with at least one other sensor on said probe generatingdata and coupled to said data transmission circuit.
 8. The system ofclaim 1 wherein said ground interface is coupled to a ground wire, saidground wire electrically coupled to said cable.
 9. A system foridentification of underground pipe defects that leak, comprising incombination: a multi-sensor probe sized to fit within an undergroundfluid transport pipe; said probe including at least one electrodethereon; a data transmission cable having a proximal end and a distalend, said distal end electrically attached to said probe; a voltagesource electrically coupled to said cable and spaced from said probe; aground interface electrically coupled to said cable and electricallycoupled to ground; an electric meter positioned to measure an electricsignal in a circuit including said electrode, said cable, said voltagesource and said ground interface, said electric signal correlating withdefects in the pipe adjacent to said probe; and wherein saidmulti-sensor probe further includes a camera.
 10. The system of claim 9wherein said camera produces a signal transmitted along said cable andcorrelated with data from said electric meter.
 11. The system of claim 9wherein an acoustic hydrophone is included on said probe, saidhydrophone producing a signal transmitted along said cable andcorrelated with data from said electric meter.
 12. The system of claim 9wherein a pressure sensor is included on said probe, said pressuresensor providing a signal transmitted along said cable and correlatedwith data from said electric meter.
 13. The system of claim 9 wherein acable reel is provided with at least a portion of said cable locatedthereon, said cable reel adapted to rotate, said cable reel having saidcable simultaneously electrically connected to said grounding elementthrough said proximal end of said cable and electrically connected tosaid multi-sensor probe through said distal end of said cable deployedoff of said reel; and said cable reel including a distance sensormeasuring a length of cable going into the pipe in which said probe islocated and to generate a signal correlating with a position of saidprobe, said distance sensor adding distance data to multi-sensor probedata to correlate said multi-sensor probe data with a position withinthe pipe where said probe is located.
 14. The system of claim 13 whereinsaid distance sensor is mounted to a frame of said cable reel whichremains fixed relative to portions of said reel which rotate and whichcontain portions of said electrically conductive cable thereon.
 15. Thesystem of claim 14 wherein said distance sensor is in communication withan on-site PC-based processor having a display associated therewith,said on-site PC-based processor also in communication with said electricmeter and said multi-sensor probe, said processor correlating distancesensor data with data from said electric meter and said multi-sensorprobe for display of sensor data versus probe position in a graph. 16.The system of claim 9 wherein said cable includes a ground wire separatefrom a data transmission circuit, said electrode of said probe coupledto said ground wire, and with at least one other sensor on said probegenerating data and coupled to said data transmission circuit.